#ifndef SOLVER2008
#define SOLVER2008

#include <cmath>

#include "../mtxlib/mtxlib.h"
#include "Utilities.h"
#include "KinematicChain.h"
#include "Effector.h"

bool SolveReverseKinematicProblem(KinematicChain *kc, Effector *eff);

#endif